JP2544112B2 - Mobile vehicle guidance equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The first and second inventions of the present invention are that branch intersections are provided at a plurality of locations on a guide line of a mobile vehicle, and a branch mark is provided at a location before the branch intersection. Is provided and a branch guide line is provided to connect to the branch intersection, the mark detection means for detecting the branch mark on the moving vehicle, and the traveling control means for executing traveling along the guide line and the branch guide line. The present invention relates to a mobile vehicle guidance facility provided with.

[Conventional technology]

In order to automatically drive a moving vehicle to a stop position (hereinafter referred to as a station) in a branch guidance line, which branch intersection is used to branch the vehicle and which of a plurality of stations provided in the branch guidance line is used. It is necessary to decide whether to stop at the station.

As means for determining the intersection to be branched, there are means for determining the number of times the branch mark is detected and means for determining by the address. That is, the former means causes the moving vehicle side to detect the number of branch marks on the way from the starting point to the intersection where the vehicle branches, and when the detected number of branch marks reaches the number instructed to the moving vehicle side in advance, The vehicle should be forked at the intersection. In the latter means, the branch mark is configured to display different addresses, and the address corresponding to the intersection to be branched is instructed to the moving vehicle side in advance, and the branch mark corresponding to the instructed address is displayed on the moving vehicle side. If it is detected at, the vehicle will be diverted at the intersection.

As a means for deciding the station to be stopped, a means for deciding the number of station marks detected after branching and a means for deciding by an address are generally used similarly to the above-mentioned means for deciding a branch intersection.

[Problems to be solved by the invention]

According to the above-mentioned conventional means, in order to instruct the destination of the moving vehicle, the operation for instructing the branch intersection and the operation for instructing the station must be performed, and the operation for setting the destination becomes complicated. There was a disadvantage.

By the way, while deciding the address of each branch intersection and the address of each station, the entire traveling route of the moving vehicle is stored in advance in the traveling control means on the moving vehicle side, and the destination is instructed according to the address of the station, A means for simplifying the destination setting operation by automatically discriminating the intersection to be branched is also proposed, but in this case, if the layout of the traveling route of the moving vehicle is changed or expanded, a new This requires a troublesome work in which the traveling route of the moving vehicle must be stored again.

The present invention has been made in view of the above circumstances,
The purpose is to change or expand the traveling route of the moving vehicle,
The purpose of the present invention is to provide a moving vehicle guidance facility that can easily perform destination setting operations while eliminating the need for troublesome work.

[Means for solving problems]

In the characteristic configuration of the mobile vehicle guiding equipment according to the first aspect of the present invention, an address is given to each branch guiding line, and an address including the same content portion as the address of the branch guiding line is provided at each stop position of each branch guiding line. Is given,
Each of the branch marks displays an address indicating the magnitude relationship with respect to the address of the branch guiding line, based on a preset setting rule for determining the magnitude relationship, in order to identify the branch guiding line located next. Based on the target travel information commanded as the address of the stop position and the address information of the branch mark detected by the mark detection means, the travel control means is based on the setting rule. In the magnitude comparison, the magnitude relationship between the address information of the branch guide line and the address information of the branch mark included in the target travel information is determined, and the magnitude relationship and the branch direction set corresponding to the magnitude relationship. It is configured to determine the branching direction based on the information.

In the characteristic configuration of the mobile vehicle guiding equipment according to the second aspect of the present invention, an address is given to each of the branch guiding lines, and an address including the same content portion as the address of the branch guiding line is provided at each stop position of each of the branch guiding lines. Is given,
Each of the branch marks is configured to display an address including the same content portion as the address of the branch guide line for identifying the next branch guide line, and the traveling control means sets the address of the stop position. Whether or not the target traveling information includes the same content portion as the address information of the branch mark based on the target traveling information instructed as and the address information of the branch mark detected by the mark detecting means. Is determined, and the branch direction is determined based on the determination result and the branch direction information set corresponding to whether or not the same content portion is included.

[Work]

In the characteristic configuration of the first aspect of the invention, the address of the branch mark detected by the mark detecting means of the moving vehicle when the moving vehicle reaches the position before the branch intersection is used to identify the next branch guiding line. This shows the magnitude relationship with respect to the address of the branch guiding line based on a preset setting rule for determining the magnitude relationship, and the stop position (hereinafter also referred to as a station).
Address contains the same contents as the address of the branch guide line.

The magnitude relationship between the address of the branch mark and the address of the commanded station determined by the traveling control means based on the setting rule depends on the magnitude relationship between the address of the branch guide line where the commanded station exists and the address of the branch mark. Then, as described above, the address of the branch mark indicates the magnitude relationship with the address of the branch guiding line located next, based on the setting rule, so the above-mentioned magnitude relationship determination executed by the traveling control means is performed. This makes it possible to determine whether or not the branch guide line in which the commanded station exists is located next, that is, whether or not the branch is necessary. Then, by the combination of the magnitude relation and the branching direction information set in advance corresponding thereto, the vehicle is driven to a desired branching guide line while the branching direction is specifically determined.

In other words, simply by setting the destination in correspondence with the address of the station, it is possible to travel to the desired branch guide line while deciding the intersection to be branched.

Then, when the layout of the traveling route of the moving vehicle is changed or expanded, the address of the branch guiding line whose position is changed or added is set, and the magnitude relationship is shown with respect to the set address of the branch guiding line. A branch mark with an address is installed at the location before the branch intersection that will be the entrance of the branch guide line whose position is to be changed or added, and to the station existing on the branch guide line whose position is to be changed or added. As long as an address including the same content as the address of the branch guide line is given, the vehicle can be driven as desired.

In the characteristic configuration of the second aspect of the invention, the address of the branch mark detected by the mark detecting means of the moving vehicle when the moving vehicle reaches the position before the branch intersection is the same content as the address of the branch guiding line located next. In addition, the address of the commanded station, which is the target traveling information, includes the same contents as the branch guide line in which the station exists.

Therefore, when the traveling control means determines whether or not the target traveling information includes the same content portion as the address information of the branch mark detected by the mark detecting means, the branch guidance line in which the commanded station exists is located next. It is possible to determine whether or not to do it. Then, by the combination of the determination result and the branch direction information preset corresponding to whether or not the same content portion is included, the vehicle is allowed to travel to the desired branch guide line while specifically determining the branch direction. .

In other words, simply by setting the destination in correspondence with the address of the station, it is possible to travel to the desired branch guide line while deciding the intersection to be branched.

Then, when the layout of the traveling route of the moving vehicle is changed or expanded, the address of the branch guide line whose position is changed or added is set, and the address including the same content part as the address of the set branch guide line is set. The branch mark with is installed at a position before the branch intersection where the position is changed or added and which is the entrance of the branch guiding line, and the station existing in the branch guiding line whose position is changed or added, As long as an address including the same content as the address of the branch guide line is given, the vehicle can be driven as desired.

[Effect]

According to the first invention and the second invention, it is possible to easily change or expand the traveling route of the moving vehicle, and further, the destination can be set by a simple operation. Came to obtain a large mobile vehicle guidance equipment.

〔Example〕

As shown in FIGS. 1 and 2, a loop-shaped guide line (L) of a moving vehicle (A) for article transportation is provided, and branch intersections (K) are provided at a plurality of points on the guide line (L). Is provided, and a station (ST) for transferring articles or the like is provided on the side of the guide line (L) or on the side of the branch guide line (La) connected to each branch intersection (K). It is provided so that the load carrying work is performed while the moving vehicle (A) is traveling between the stations (ST).

However, (HP) in the figure is a home position which is a reference point for traveling of the moving vehicle (A). Further, each of the branch guide lines (La) is connected to the guide line (L) or another branch guide line (La) at a confluence intersection (Ka).

Each of the guide line (L) and each branch guide line (La) is formed by attaching a magnetic tape (1) magnetized so that the front side is the N pole and the back side is the S pole on the traveling road surface. It is configured.

The moving vehicle (A) has a pair of left and right idle rear wheels (2
L), (2R) and one front wheel (5) driven by the electric motor (3) for propulsion and turned around the vertical axis by the electric motor (4) for steering. Be prepared.

A branch mark (m ₁ ) is provided in front of each branch intersection (K), and each branch guide line (La)
In addition, an absolute address mark (m ₂ ) and a count mark (m ₃ ) indicating the position of the station (ST) are provided. Further, a part of the guide line (L) is divided into a plurality of lines, and the division line also has an absolute address mark (m ₂ ).
And a count mark (m ₃ ) are provided, and a home position mark (m ₄ ) indicating the position of the home position (HP) is also provided. Furthermore, confluence intersection (Ka)
A confluence mark (m ₅ ) is provided in front of.

As shown in FIG. 4, the various marks (m _{1 to} m ₅ ) are composed of a maximum of six code forming magnet pieces (6) and one reading piece setting magnet piece (7). It is composed of a combination. That is, the magnet piece (6) for forming the cord
Displays various contents by selecting either the N pole or the S pole on the front side and selecting which of the first to sixth installation locations (F _{1 to} F ₆ ) to install. The magnet piece (7) for setting the reading position is
In order to clarify the distinction between the guide line (L) and the branch guide line (La), the front side is the S pole and the back side is the N pole.

Each of the branch guide lines (La) and the guide lines (L)
Each of the sectioned lines in
An address is assigned in step 100, such as line 00, and the absolute address marks (m ₂ ) display the contents of the address.

Each of the branch marks (m ₁ ) is based on a preset rule for discriminating a magnitude relation set in advance for the purpose of identifying the branch guiding line (La) located next, as described below. It is configured to display an address indicating a magnitude relationship with the address. However, branch mark (m ₁ )
Is configured to display the branching direction as well, in order to allow the traveling layout of the moving vehicle (A) to be changed in various ways. Incidentally, when the moving vehicle (A) is branched and run, it is switched between a state of running along the left edge and a state of running along the right edge of the magnetic tape (1), as will be described later. Therefore, the display of the branching direction is to display information for performing the switching. Incidentally, in this embodiment, all the branch marks (m ₁ ) indicate the right branch.

The address given to the branch mark (m ₁ ) will be explained. The branch mark (m ₁ ) corresponding to 100 lines or 200 lines is given the address 200, and the branch mark (m ₁ ) corresponding to 400 lines is added. ₁ ) is assigned an address of 400, and a branch mark (m ₁ ) corresponding to 600 lines is assigned an address of 500. That is, FIG. 4 (a),
As shown in (b), the third to sixth installation points (F _{4 to}
An address is given by attaching a magnet piece (6) to F ₆ ) in the same form.

In the station (ST), for example, in the case of 400 lines, an address including the same content portion as the address of the line on which it is located, such as 401 to 403, that is, in the present embodiment, numbers in the 100s are used. An address included as the same content portion is given. However, since the position of each station (ST) is indicated by a count mark, the moving vehicle (A) detects the current position by the absolute address mark (m ₂ ) and then detects the count mark (m ₃ ). Each time, the desired station (ST) is recognized by adding one by one.

The merging mark (m ₅ ) is mainly intended to display the switching described in the divergence mark (m ₂ ), and if necessary, displays whether or not it is a priority line and speed control such as deceleration. It will also be displayed.

 Next, the traveling control means on the moving vehicle side will be described.

The mobile vehicle (A) is provided with a mobile vehicle controller (G) as a traveling control means using a microcomputer, and the controller (G) is provided with a lateral line with respect to the guide line (L) and the branch guide line (La). A steering control sensor (8) for detecting deviation, the various marks (m _{1 to}
A magnetic sensor type mark detection sensor (9) as mark detection means for detecting m ₅ ) and an operation panel (10) for setting a destination etc. are connected, and a mobile vehicle controller (G) Based on the information stored in advance, the line detection information by the steering control sensor (8), the destination command information instructed using the operation panel (10), and the mark detection information by the mark detection sensor (9). Drive device (11) for electric motor for propulsion (3) and electric motor for steering (4)
Between the station (ST) and the home position (HP) while outputting the operation command to the driving device (12) of the vehicle, while performing the branch traveling at the junction (K) and the merge traveling at the junction (Ka). The moving vehicle (A) is configured to automatically travel over the entire range.

 Hereinafter, each part will be described in detail.

As shown in FIG. 3, the steering control sensor (8) includes a plurality of magnetic sensing elements (S _{1 to} S ₂₀ ) which are closed when the sensed magnetism exceeds a predetermined value, and a plurality of the magnetic sensing elements connected in series. Resistances (R _{1 to} R ₂₀ ) of each magnetic sensing element (S _{1 to} S ₂₀ ) and one side contact point is connected to ground potential, and the other side contact point is a connection point between adjacent resistors. It is connected to the. Then, the series-connected resistors (R ₁ ~R ₂₀₎ supplies a DC constant current from the end portion side to the power supply (Es) is provided, in series connected resistors one of the (R ₁ ~R ₂₀₎ A changeover switch (SW) is provided to switch whether to supply current from the side end.

Therefore, the output voltage (Vx) that appears at the connection point between the changeover switch (SW) and the power supply (Es) is input to the mobile vehicle controller (G) as a lateral excursion with respect to the lines (L) and (La). Then, the changeover switch (SW) detects a lateral displacement with respect to the left edge of the magnetic tape (1) (hereinafter abbreviated as a left edge detection state) and a state of detecting a lateral displacement with respect to the right edge (hereinafter It will be switched to the right edge detection state). Incidentally, this switching is used for branch traveling and merging traveling, and the changeover switch (SW) is switched by a command from the mobile vehicle controller (G).

As shown in FIG. 2, the mark detecting sensor (9) includes six first proximity sensors (T ₁ ) for detecting the magnet piece (6) for forming a code and a magnet for setting a reading position. It is provided with one proximity sensor (T ₂ ) for detecting the piece (7), and the detection state of the first proximity sensor (T ₁ ) at the time when the second proximity sensor (T ₂ ) detects and operates. Is input to the moving vehicle controller (G) as mark detection information.

The operation panel (10) is provided with a ten-key for setting a destination, a travel start switch, an emergency stop switch, a display section for displaying the set destination and the like.

The control operation will be described while explaining the operation of the mobile vehicle controller (G).

If the operation form of the moving vehicle (A) is schematically explained in advance by taking a representative example, the moving vehicle (A) has
When a running start command is given in a state where the address of the destination station is commanded, the vehicle travels to the instructed station (ST) and stops. or,
When the traveling start command is given without the destination being instructed, the moving vehicle (A) travels to the home position (HP) and stops.

Therefore, as shown in FIG. 5, the mobile vehicle controller (G) executes a destination setting process of checking whether or not there is a destination command and determining the destination at the time when the traveling start command is given. After that, when traveling is started while executing traveling processing so as to satisfy traveling conditions such as traveling speed, steering control processing is executed based on line detection information from the steering control sensor (8). At the same time, the presence or absence of mark detection by the mark detection sensor (9) is repeatedly checked, and the mark processing is executed in accordance with the mark detection.

As shown in FIG. 6, the mark processing is performed in the case of the branch mark (m ₁ ), the branch process in the case of the merge mark (m ₅ ), and in the case of the absolute address mark (m ₂ ). Performs address processing for address setting, and station processing in the case of count mark (m ₃ ).

As shown in FIG. 7, the branching process includes a number in the 100s, which is the address of the destination branch guide line (La) included in the address of the station designated as the destination,
With respect to the address displayed on the detected branch mark (m ₁ ), the magnitude relationship is determined based on the above-mentioned setting rule. That is, it is checked whether the address of the branch guide line (La) is less than or equal to the address displayed on the branch mark (m ₁ ).

If the address of the destination line is less than or equal to the displayed address, check whether the branch direction displayed on the branch mark (m ₁ ), that is, the edge indication, is left, and if it is left, An instruction to switch the steering control sensor (8) to the left edge detection state is output, and if it is not left, an instruction to switch the steering control sensor (8) to the right edge detection state is output.

Even if the address of the destination line is larger than the displayed address, it is checked whether the edge indication displayed on the branch mark (m ₁ ) is left, and if it is left, steering control is performed. An instruction to switch the sensor (8) to the right edge detection state is output, and if it is not left, an instruction to switch the steering control sensor (8) to the left edge detection state is output. That is, branching is performed based on the magnitude relationship between the address of the destination line included in the address of the station commanded as the destination and the address of the branch mark (m ₁ ) and the branch direction information set corresponding to the magnitude relationship. The direction is determined.

By the way, the reason why this type of discrimination is required is 600
This is for branching into lines and for branching into 100 lines and 200 lines. For example, when the layout is formed only in the same form as 400 lines (see FIG. 8), the address of the destination line and the detection address are detected. The edge switching instruction can be issued only by determining whether or not and that is, that is, by determining whether or not the number in the 100s, which is information regarding the branch guide line (La), is included.

In the merging process, as described above, the edge switching and the speed control are instructed based on the mark information.
In the address processing, the current address is set as described above, and in the station processing, addition processing is performed each time the count mark (m ₃ ) is detected as described above, and the desired station (ST) is set. When recognizing that, the moving vehicle (A) is stopped.

[Another embodiment]

In the above embodiment, the case where the branching direction can be displayed in the branching mark (m ₁ ) so that the branching can be performed in either the left or right direction is shown. However, as shown in FIG. When it is okay, the branch direction may not be displayed.

In addition to utilizing magnetism, the present invention can be carried out by using a light reflection type induction tape or a light reflection type mark piece.

In the above embodiment, the stop position at the station (ST) is determined by the combination of the absolute address mark (m ₂ ) and the count mark (m ₃ ), but it corresponds to each station (ST). A station mark for displaying the address may be provided. In that case, the absolute address mark (m ₂ )
Needless to say, is unnecessary.

[Brief description of drawings]

The drawings show an embodiment of a mobile vehicle guidance facility according to the present invention. Fig. 1 is a schematic plan view of the guidance facility, Fig. 2 is a schematic plan view showing the mobile vehicle, and Fig. 3 is a traveling control configuration on the mobile vehicle side. 4 is a schematic plan view showing marks, FIGS. 5 to 7 are flow charts showing control operation, and FIG. 8 is another embodiment. It is a schematic plan view. (A) ... moving vehicle, (K) ... branch intersection, (L) ... guide line, (La) ... branch guide line, (m ₁ ) ... branch mark, (ST) ... stop position, (9) ...
... mark detection means, (G) ... travel control means.

Claims (2)

(57) [Claims] 1. A branch intersection (K) is provided at a plurality of points on a guide line (L) of a moving vehicle (A), and a branch mark (m ₁ ) is provided at a point before the branch intersection (K). At the same time, a branch guide line (La) connected to the branch intersection (K) is provided, and mark detection means (9) for detecting the branch mark (m ₁ ) on the moving vehicle (A) and the guide line ( L) and a traveling control means (G) for executing traveling along the branch guide line (La), wherein an address is given to each of the branch guide lines (La), Stop position (ST) in each branch guide line (La)
Is provided with an address including the same content portion as the address of the branch guiding line (La) and an address including the same content portion as the address of the branch guiding line (La), and each branch mark (m ₁ ) is located next to the branch guiding line (La). For the purpose of identifying, based on a preset setting rule for determining the magnitude relationship, it is configured to display the address indicating the magnitude relationship with respect to the address of the branch guide line (La), the travel control means ( G) is the setting based on the target travel information commanded as the address of the stop position (ST) and the address information of the branch mark (m ₁ ) detected by the mark detecting means (9). In the size comparison based on the rule, the size relationship between the address information of the branch guide line included in the target travel information and the address information of the branch mark (m ₁ ) is determined, and the size relationship is determined. , A vehicle guidance system configured to determine a branching direction based on branching direction information set corresponding to the magnitude relationship. 2. A branch intersection (K) is provided at a plurality of points on a guide line (L) of a moving vehicle (A), and a branch mark (m ₁ ) is provided at a point before the branch intersection (K). At the same time, a branch guide line (La) connected to the branch intersection (K) is provided, and mark detection means (9) for detecting the branch mark (m ₁ ) on the moving vehicle (A) and the guide line ( L) and a traveling control means (G) for executing traveling along the branch guide line (La), wherein an address is given to each of the branch guide lines (La), Stop position (ST) in each branch guide line (La)
Is given an address including the same contents as the address of the branch guide line (La), and each branch mark (m ₁ ) is a branch mark for identifying the branch guide line (La) located next. The travel control means (G) is configured to display an address including the same content as the address of the guide line (La), and the travel control means (G) includes target travel information commanded as an address of the stop position (ST) and the mark. Whether the target traveling information includes the same content portion as the address information of the branch mark (m ₁ ) based on the address information of the branch mark (m ₁ ) detected by the detection means (9). The vehicle guidance system configured to determine the branch direction based on the determination result and the branch direction information set corresponding to whether or not the same content portion is included.